	.file "D:\\Mes Documents\\Programmation\\Drone\\MatrixPilotQuad\\MPQpid400.X\\..\\..\\libDCM\\rmat.c"
	.section	.debug_abbrev,info
.Ldebug_abbrev0:
	.section	.debug_info,info
.Ldebug_info0:
	.section	.debug_line,info
.Ldebug_line0:
	.section	.text,code
.Ltext0:
	.global	_ggain	; export
	.section	.ndata,data,near
	.align	2
	.type	_ggain,@object
_ggain:
	.word	2433
	.word	2433
	.word	2433
	.global	_spin_rate	; export
	.align	2
	.type	_spin_rate,@object
_spin_rate:
	.skip	2
	.global	_spin_axis	; export
	.align	2
	.type	_spin_axis,@object
_spin_axis:
	.word	0
	.word	0
	.word	16384
	.global	_rmat	; export
	.align	2
	.type	_rmat,@object
_rmat:
	.word	16384
	.word	0
	.word	0
	.word	0
	.word	16384
	.word	0
	.word	0
	.word	0
	.word	16384
	.global	_rmatDelayCompensated	; export
	.align	2
	.type	_rmatDelayCompensated,@object
_rmatDelayCompensated:
	.word	16384
	.word	0
	.word	0
	.word	0
	.word	16384
	.word	0
	.word	0
	.word	0
	.word	16384
	.global	_omegagyro	; export
	.align	2
	.type	_omegagyro,@object
_omegagyro:
	.skip	6
	.global	_omega	; export
	.align	2
	.type	_omega,@object
_omega:
	.skip	6
	.global	_omegacorrP	; export
	.align	2
	.type	_omegacorrP,@object
_omegacorrP:
	.skip	6
	.global	_omegacorrI	; export
	.align	2
	.type	_omegacorrI,@object
_omegacorrI:
	.skip	6
	.global	_accelEarth	; export
	.align	2
	.type	_accelEarth,@object
_accelEarth:
	.skip	6
	.global	_gyroCorrectionIntegral	; export
	.align	2
	.type	_gyroCorrectionIntegral,@object
_gyroCorrectionIntegral:
	.skip	12
	.global	_omegaAccum	; export
	.align	2
	.type	_omegaAccum,@object
_omegaAccum:
	.skip	6
	.global	_gplane	; export
	.align	2
	.type	_gplane,@object
_gplane:
	.word	0
	.word	0
	.word	1999
	.global	_dirovergndHGPS	; export
	.align	2
	.type	_dirovergndHGPS,@object
_dirovergndHGPS:
	.word	0
	.word	16384
	.word	0
	.global	_dirovergndHRmat	; export
	.align	2
	.type	_dirovergndHRmat,@object
_dirovergndHRmat:
	.word	0
	.word	16384
	.word	0
	.global	_errorRP	; export
	.align	2
	.type	_errorRP,@object
_errorRP:
	.skip	6
	.global	_errorYawground	; export
	.align	2
	.type	_errorYawground,@object
_errorYawground:
	.skip	6
	.global	_errorYawplane	; export
	.align	2
	.type	_errorYawplane,@object
_errorYawplane:
	.skip	6
	.global	_error	; export
	.align	2
	.type	_error,@object
_error:
	.skip	2
	.section	.text,code
	.align	2
	.global	_dcm_init_rmat	; export
	.type	_dcm_init_rmat,@function
_dcm_init_rmat:
.LFB6:
.LM1:
	.set ___PA___,1
	lnk	#0
.LM2:
	mov	#_filterState,w4
	mov	#_boxCarSum,w3
	mov	#_boxCarBuff,w2
	mov	#3,w1
	mov	#20,w0
	call	_init_boxCarState
.LM3:
	ulnk	
	return	
	.set ___PA___,0
.LFE6:
	.align	2
	.global	_VectorCross	; export
	.type	_VectorCross,@function
_VectorCross:
.LFB7:
.LM4:
	.set ___PA___,1
	lnk	#10
	mov	w0,[w14+4]
	mov	w1,[w14+6]
	mov	w2,[w14+8]
.LM5:
	mov	[w14+8],w0
	add	w0,#4,w0
	mov	[w0],w1
	mov	[w14+6],w0
	inc2	w0,w0
	mov	[w0],w0
	mul.ss	w0,w1,w0
	mov.d	w0,[w14]
.LM6:
	mov.d	[w14],w2
	mov	[w14+8],w0
	inc2	w0,w0
	mov	[w0],w1
	mov	[w14+6],w0
	add	w0,#4,w0
	mov	[w0],w0
	mul.ss	w0,w1,w0
	sub	w2,w0,w0
	subb	w3,w1,w1
	mov.d	w0,[w14]
.LM7:
	mov.d	[w14],w0
	sl	w1,#2,w2
	lsr	w0,#14,w1
	ior	w2,w1,w1
	sl	w0,#2,w0
	mov.d	w0,[w14]
.LM8:
	mov	[w14+2],w1
	mov	[w14+4],w0
	mov	w1,[w0]
.LM9:
	mov	[w14+8],w0
	mov	[w0],w1
	mov	[w14+6],w0
	add	w0,#4,w0
	mov	[w0],w0
	mul.ss	w0,w1,w0
	mov.d	w0,[w14]
.LM10:
	mov.d	[w14],w2
	mov	[w14+8],w0
	add	w0,#4,w0
	mov	[w0],w1
	mov	[w14+6],w0
	mov	[w0],w0
	mul.ss	w0,w1,w0
	sub	w2,w0,w0
	subb	w3,w1,w1
	mov.d	w0,[w14]
.LM11:
	mov.d	[w14],w0
	sl	w1,#2,w2
	lsr	w0,#14,w1
	ior	w2,w1,w1
	sl	w0,#2,w0
	mov.d	w0,[w14]
.LM12:
	mov	[w14+4],w0
	inc2	w0,w1
	mov	[w14+2],w0
	mov	w0,[w1]
.LM13:
	mov	[w14+8],w0
	inc2	w0,w0
	mov	[w0],w1
	mov	[w14+6],w0
	mov	[w0],w0
	mul.ss	w0,w1,w0
	mov.d	w0,[w14]
.LM14:
	mov.d	[w14],w2
	mov	[w14+8],w0
	mov	[w0],w1
	mov	[w14+6],w0
	inc2	w0,w0
	mov	[w0],w0
	mul.ss	w0,w1,w0
	sub	w2,w0,w0
	subb	w3,w1,w1
	mov.d	w0,[w14]
.LM15:
	mov.d	[w14],w0
	sl	w1,#2,w2
	lsr	w0,#14,w1
	ior	w2,w1,w1
	sl	w0,#2,w0
	mov.d	w0,[w14]
.LM16:
	mov	[w14+4],w0
	add	w0,#4,w1
	mov	[w14+2],w0
	mov	w0,[w1]
.LM17:
	ulnk	
	return	
	.set ___PA___,0
.LFE7:
	.align	2
	.global	_read_gyros	; export
	.type	_read_gyros,@function
_read_gyros:
.LFB8:
.LM18:
	.set ___PA___,1
	lnk	#2
.LM19:
	mov	_udb_xrate+4,w0
	asr	w0,w1
	mov	_udb_xrate+2,w0
	asr	w0,w0
	sub	w1,w0,w1
	mov	_vref_adj,w0
	sub	w1,w0,w0
	mov	w0,_omegagyro
.LM20:
	mov	_udb_yrate+4,w0
	asr	w0,w1
	mov	_udb_yrate+2,w0
	asr	w0,w0
	sub	w1,w0,w1
	mov	_vref_adj,w0
	sub	w1,w0,w0
	mov	w0,_omegagyro+2
.LM21:
	mov	_udb_zrate+4,w0
	asr	w0,w1
	mov	_udb_zrate+2,w0
	asr	w0,w0
	sub	w1,w0,w1
	mov	_vref_adj,w0
	sub	w1,w0,w0
	mov	w0,_omegagyro+4
.LM22:
	mov	_omegagyro+4,w2
	mov	_omegagyro+2,w1
	mov	_omegagyro,w0
	call	_vector3_mag
	mov	w0,_spin_rate
.LM23:
	mov	_spin_rate,w0
	lsr	w0,w0
	mov	w0,[w14]
.LM24:
	cp0	[w14]
	.set ___BP___,0
	bra	z,.L8
.LM25:
	mov	[w14],w2
	mov	_omegagyro,w0
	asr	w0,#15,w1
	sl	w1,#13,w3
	lsr	w0,#3,w1
	ior	w3,w1,w1
	sl	w0,#13,w0
	mov	w1,[w15++]
	repeat	#18-1
	div.sd	w0,w2
	mov	[--w15],w1
	mov	w0,_spin_axis
.LM26:
	mov	[w14],w2
	mov	_omegagyro+2,w0
	asr	w0,#15,w1
	sl	w1,#13,w3
	lsr	w0,#3,w1
	ior	w3,w1,w1
	sl	w0,#13,w0
	mov	w1,[w15++]
	repeat	#18-1
	div.sd	w0,w2
	mov	[--w15],w1
	mov	w0,_spin_axis+2
.LM27:
	mov	[w14],w2
	mov	_omegagyro+4,w0
	asr	w0,#15,w1
	sl	w1,#13,w3
	lsr	w0,#3,w1
	ior	w3,w1,w1
	sl	w0,#13,w0
	mov	w1,[w15++]
	repeat	#18-1
	div.sd	w0,w2
	mov	[--w15],w1
	mov	w0,_spin_axis+4
.L8:
.LM28:
	ulnk	
	return	
	.set ___PA___,0
.LFE8:
	.align	2
	.global	_read_accel	; export
	.type	_read_accel,@function
_read_accel:
.LFB9:
.LM29:
	.set ___PA___,1
	lnk	#0
.LM30:
	mov	_udb_xaccel+2,w0
	asr	w0,w1
	mov	_udb_xaccel+4,w0
	asr	w0,w0
	sub	w1,w0,w0
	mov	w0,_gplane
.LM31:
	mov	_udb_yaccel+2,w0
	asr	w0,w1
	mov	_udb_yaccel+4,w0
	asr	w0,w0
	sub	w1,w0,w0
	mov	w0,_gplane+2
.LM32:
	mov	_udb_zaccel+2,w0
	asr	w0,w1
	mov	_udb_zaccel+4,w0
	asr	w0,w0
	sub	w1,w0,w0
	mov	w0,_gplane+4
.LM33:
	mov	#_gplane,w2
	mov	#_rmat,w1
	mov	#3,w0
	call	_VectorDotProduct
	add	w0,w0,w0
	mov	w0,_accelEarth
.LM34:
	mov	#_rmat+6,w1
	mov	#_gplane,w2
	mov	#3,w0
	call	_VectorDotProduct
	neg	w0,w0
	add	w0,w0,w0
	mov	w0,_accelEarth+2
.LM35:
	mov	#_rmat+12,w1
	mov	#_gplane,w2
	mov	#3,w0
	call	_VectorDotProduct
	add	w0,w0,w0
	mov	w0,w1
	mov	#-1999,w0
	add	w1,w0,w0
	mov	w0,_accelEarth+4
.LM36:
	ulnk	
	return	
	.set ___PA___,0
.LFE9:
	.align	2
	.global	_omegaSOG	; export
	.type	_omegaSOG,@function
_omegaSOG:
.LFB10:
.LM37:
	.set ___PA___,1
	lnk	#10
	mov	w0,[w14+4]
	mov	w1,[w14+6]
.LM38:
	mov	[w14+6],w0
	lsr	w0,#3,w0
	mov	w0,[w14+6]
.LM39:
	mov	[w14+4],w1
	mov	[w14+6],w0
	mul.su	w1,w0,w0
	mov.d	w0,[w14]
.LM40:
	mov	[w14+2],w0
	sub	w0,#17,[w15]
	.set ___BP___,0
	bra	le,.L12
.LM41:
	mov	#16384,w0
	mov	w0,[w14+8]
	bra	.L14
.L12:
.LM42:
	mov	[w14+2],w0
	add	w0,#17,[w15]
	.set ___BP___,0
	bra	ge,.L15
.LM43:
	mov	#-16384,w2
	mov	w2,[w14+8]
	bra	.L14
.L15:
.LM44:
	mov.d	[w14],w0
	sl	w1,#11,w2
	lsr	w0,#5,w0
	ior	w2,w0,w0
	asr	w1,#5,w1
	mov.d	w0,[w14]
.LM45:
	mov	[w14],w1
	mov	#931,w0
	mul.su	w1,w0,w0
	mov.d	w0,[w14]
.LM46:
	mov.d	[w14],w0
	sl	w1,#5,w2
	lsr	w0,#11,w1
	ior	w2,w1,w1
	sl	w0,#5,w0
	mov.d	w0,[w14]
.LM47:
	mov	[w14+2],w0
	mov	w0,[w14+8]
.L14:
	mov	[w14+8],w0
.LM48:
	ulnk	
	return	
	.set ___PA___,0
.LFE10:
	.align	2
	.global	_rupdate	; export
	.type	_rupdate,@function
_rupdate:
.LFB11:
.LM49:
	.set ___PA___,1
	lnk	#42
.LM50:
	mov	#_omegacorrI,w3
	mov	#_omegagyro,w2
	mov	#_omegaAccum,w1
	mov	#3,w0
	call	_VectorAdd
.LM51:
	mov	#_omegacorrP,w3
	mov	#_omegaAccum,w2
	mov	#_omega,w1
	mov	#3,w0
	call	_VectorAdd
.LM52:
	mov	#_ggain,w3
	mov	#_omega,w2
	mov	#_theta,w1
	mov	#3,w0
	call	_VectorMultiply
.LM53:
	add	w14,#6,w1
	mov	#16384,w0
	mov	w0,[w1+16]
	add	w14,#6,w0
	mov	[w0+16],w1
	add	w14,#6,w0
	mov	w1,[w0+8]
	add	w14,#6,w0
	mov	[w0+8],w1
	add	w14,#6,w0
	mov	w1,[w0]
.LM54:
	mov	_theta,w1
	mov	_theta,w0
	mul.ss	w0,w1,w2
	mov	_theta+2,w1
	mov	_theta+2,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w2
	addc	w1,w3,w3
	mov	_theta+4,w1
	mov	_theta+4,w0
	mul.ss	w0,w1,w0
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,[w14+2]
	mov	w1,[w14+4]
.LM55:
	mov	[w14+2],w0
	mov	[w14+4],w1
	sl	w1,#2,w2
	lsr	w0,#14,w0
	ior	w2,w0,w0
	lsr	w1,#14,w1
	mov	#3,w2
	repeat	#18-1
	div.uw	w0,w2
	mov	w0,w1
	mov	#16384,w0
	add	w1,w0,[w14]
.LM56:
	mov	_theta,w0
	mul.su	w0,[w14],w0
	sl	w1,#2,w2
	lsr	w0,#14,w0
	ior	w2,w0,w0
	asr	w1,#14,w1
	mov	w0,_theta
.LM57:
	mov	_theta+2,w0
	mul.su	w0,[w14],w0
	sl	w1,#2,w2
	lsr	w0,#14,w0
	ior	w2,w0,w0
	asr	w1,#14,w1
	mov	w0,_theta+2
.LM58:
	mov	_theta+4,w0
	mul.su	w0,[w14],w0
	sl	w1,#2,w2
	lsr	w0,#14,w0
	ior	w2,w0,w0
	asr	w1,#14,w1
	mov	w0,_theta+4
.LM59:
	mov	_theta+4,w0
	neg	w0,w1
	add	w14,#6,w0
	mov	w1,[w0+2]
.LM60:
	mov	_theta+2,w1
	add	w14,#6,w0
	mov	w1,[w0+4]
.LM61:
	mov	_theta+4,w1
	add	w14,#6,w0
	mov	w1,[w0+6]
.LM62:
	mov	_theta,w0
	neg	w0,w1
	add	w14,#6,w0
	mov	w1,[w0+10]
.LM63:
	mov	_theta+2,w0
	neg	w0,w1
	add	w14,#6,w0
	mov	w1,[w0+12]
.LM64:
	mov	_theta,w1
	add	w14,#6,w0
	mov	w1,[w0+14]
.LM65:
	add	w14,#6,w0
	add	w14,#24,w1
	mov	w0,w5
	mov	#_rmat,w4
	mov	w1,w3
	mov	#3,w2
	mov	#3,w1
	mov	#3,w0
	call	_MatrixMultiply
.LM66:
	add	w14,#24,w0
	add	w14,#24,w1
	mov	w0,w4
	mov	w1,w3
	mov	#_rmat,w2
	mov	#3,w1
	mov	#3,w0
	call	_MatrixAdd
.LM67:
	ulnk	
	return	
	.set ___PA___,0
.LFE11:
	.align	2
	.global	_normalize	; export
	.type	_normalize,@function
_normalize:
.LFB12:
.LM68:
	.set ___PA___,1
	lnk	#22
.LM69:
	mov	#_rmat+6,w2
	mov	#_rmat,w1
	mov	#3,w0
	call	_VectorDotProduct
	neg	w0,w0
	mov	w0,_error
.LM70:
	mov	_error,w0
	mov	#_rmat+6,w2
	add	w14,#4,w1
	mov	w0,w3
	mov	#3,w0
	call	_VectorScale
.LM71:
	mov	_error,w1
	add	w14,#4,w0
	add	w0,#6,w0
	mov	w1,w3
	mov	#_rmat,w2
	mov	w0,w1
	mov	#3,w0
	call	_VectorScale
.LM72:
	add	w14,#4,w2
	add	w14,#4,w1
	mov	#_rmat,w3
	mov	#3,w0
	call	_VectorAdd
.LM73:
	mov	#_rmat+6,w2
	add	w14,#4,w0
	add	w0,#6,w4
	add	w14,#4,w0
	add	w0,#6,w1
	mov	w2,w3
	mov	w4,w2
	mov	#3,w0
	call	_VectorAdd
.LM74:
	add	w14,#4,w0
	add	w0,#6,w2
	add	w14,#4,w0
	add	w0,#12,w0
	add	w14,#4,w1
	call	_VectorCross
.LM75:
	add	w14,#4,w1
	mov	#3,w0
	call	_VectorPower
	mov	w0,[w14+2]
.LM76:
	mov	#24576,w1
	mov	[w14+2],w0
	sub	w1,w0,[w14]
.LM77:
	add	w14,#4,w2
	add	w14,#4,w1
	mov	[w14],w3
	mov	#3,w0
	call	_VectorScale
.LM78:
	add	w14,#4,w0
	add	w14,#4,w2
	mov	w0,w3
	mov	#_rmat,w1
	mov	#3,w0
	call	_VectorAdd
.LM79:
	add	w14,#4,w0
	add	w0,#6,w1
	mov	#3,w0
	call	_VectorPower
	mov	w0,[w14+2]
.LM80:
	mov	#24576,w1
	mov	[w14+2],w0
	sub	w1,w0,[w14]
.LM81:
	add	w14,#4,w0
	add	w0,#6,w2
	add	w14,#4,w0
	add	w0,#6,w1
	mov	[w14],w3
	mov	#3,w0
	call	_VectorScale
.LM82:
	add	w14,#4,w0
	add	w0,#6,w3
	add	w14,#4,w0
	add	w0,#6,w2
	mov	#_rmat+6,w1
	mov	#3,w0
	call	_VectorAdd
.LM83:
	add	w14,#4,w0
	add	w0,#12,w1
	mov	#3,w0
	call	_VectorPower
	mov	w0,[w14+2]
.LM84:
	mov	#24576,w1
	mov	[w14+2],w0
	sub	w1,w0,[w14]
.LM85:
	add	w14,#4,w0
	add	w0,#12,w2
	add	w14,#4,w0
	add	w0,#12,w1
	mov	[w14],w3
	mov	#3,w0
	call	_VectorScale
.LM86:
	add	w14,#4,w0
	add	w0,#12,w3
	add	w14,#4,w0
	add	w0,#12,w2
	mov	#_rmat+12,w1
	mov	#3,w0
	call	_VectorAdd
.LM87:
	ulnk	
	return	
	.set ___PA___,0
.LFE12:
	.global	_accelerometer_earth_integral	; export
	.section	.ndata,data,near
	.align	2
	.type	_accelerometer_earth_integral,@object
_accelerometer_earth_integral:
	.skip	12
	.global	_GPS_velocity_previous	; export
	.align	2
	.type	_GPS_velocity_previous,@object
_GPS_velocity_previous:
	.skip	6
	.global	_accelerometer_samples	; export
	.align	2
	.type	_accelerometer_samples,@object
_accelerometer_samples:
	.word	221
	.section	.text,code
	.align	2
	.global	_roll_pitch_drift	; export
	.type	_roll_pitch_drift,@function
_roll_pitch_drift:
.LFB13:
.LM88:
	.set ___PA___,1
	lnk	#4
	mov	w8,[w15++]
.LM89:
	mov	#_gplaneFilt,w2
	mov	#_filterState,w1
	mov	#_gplane,w0
	call	_boxcar
.LM90:
	mov	#_gplaneFilt,w2
	mov	#_rmat,w1
	mov	#3,w0
	call	_VectorDotProduct
	add	w0,w0,w0
	mov	w0,_accelerometer_earth
.LM91:
	mov	#_rmat+6,w1
	mov	#_gplaneFilt,w2
	mov	#3,w0
	call	_VectorDotProduct
	add	w0,w0,w0
	mov	w0,_accelerometer_earth+2
.LM92:
	mov	#_rmat+12,w1
	mov	#_gplaneFilt,w2
	mov	#3,w0
	call	_VectorDotProduct
	add	w0,w0,w0
	mov	w0,_accelerometer_earth+4
.LM93:
	mov	_dcm_flags,w0
	and	w0,#8,w0
	cp0	w0
	.set ___BP___,0
	bra	nz,.L23
	mov	_accelerometer_samples,w8
	mul.su	w8,#1,w0
	call	___floatsisf
	mov.d	w0,[w14]
	cp0	w8
	.set ___BP___,0
	bra	ge,.L25
	mov	#0,w2
	mov	#18304,w3
	mov.d	[w14],w0
	call	___addsf3
	mov.d	w0,[w14]
.L25:
	mov	#0,w2
	mov	#17244,w3
	mov.d	[w14],w0
	call	___gtsf2
	cp0	w0
	.set ___BP___,0
	bra	gt,.L23
	bra	.L28
.L23:
.LM94:
	call	_gps_nav_valid
.LM95:
	clr	w0
	mov	w0,_accelerometer_reference+2
	mov	_accelerometer_reference+2,w0
	mov	w0,_accelerometer_reference
.LM96:
	mov	#16384,w0
	mov	w0,_accelerometer_reference+4
.LM97:
	mov	#_accelerometer_reference,w2
	mov	#_accelerometer_earth,w1
	mov	#_errorRP_earth,w0
	call	_VectorCross
.LM98:
	clr	w0
	mov	w0,_errorRP_earth+4
.LM99:
	mov	#_rmat,w5
	mov	#_errorRP_earth,w4
	mov	#_errorRP,w3
	mov	#3,w2
	mov	#3,w1
	mov	#1,w0
	call	_MatrixMultiply
.LM100:
	mul.uu	w0,#0,w0
	mov	w0,_accelerometer_earth_integral
	mov	w1,_accelerometer_earth_integral+2
.LM101:
	mul.uu	w0,#0,w0
	mov	w0,_accelerometer_earth_integral+4
	mov	w1,_accelerometer_earth_integral+4+2
.LM102:
	mul.uu	w0,#0,w0
	mov	w0,_accelerometer_earth_integral+8
	mov	w1,_accelerometer_earth_integral+8+2
.LM103:
	bclr.b	_dcm_flags,#3
.L28:
.LM104:
	mov	[--w15],w8
	ulnk	
	return	
	.set ___PA___,0
.LFE13:
	.align	2
	.global	_yaw_drift	; export
	.type	_yaw_drift,@function
_yaw_drift:
.LFB14:
.LM105:
	.set ___PA___,1
	lnk	#0
.LM106:
	mov	_dcm_flags,w0
	mov	#1024,w1
	and	w0,w1,w0
	cp0	w0
	.set ___BP___,0
	bra	z,.L35
.LM107:
	mov	_ground_velocity_magnitudeXY,w1
	mov	#150,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	leu,.L32
.LM108:
	mov	#_dirovergndHGPS,w2
	mov	#_dirovergndHRmat,w1
	mov	#_errorYawground,w0
	call	_VectorCross
.LM109:
	mov	#_rmat,w5
	mov	#_errorYawground,w4
	mov	#_errorYawplane,w3
	mov	#3,w2
	mov	#3,w1
	mov	#1,w0
	call	_MatrixMultiply
	bra	.L34
.L32:
.LM110:
	clr	w0
	mov	w0,_errorYawplane+4
	mov	_errorYawplane+4,w0
	mov	w0,_errorYawplane+2
	mov	_errorYawplane+2,w0
	mov	w0,_errorYawplane
.L34:
.LM111:
	bclr.b	_dcm_flags+1,#2
.L35:
.LM112:
	ulnk	
	return	
	.set ___PA___,0
.LFE14:
	.align	2
	.global	_PI_feedback	; export
	.type	_PI_feedback,@function
_PI_feedback:
.LFB15:
.LM113:
	.set ___PA___,1
	lnk	#10
.LM114:
	mov	_spin_rate,w1
	mov	#988,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	gtu,.L37
.LM115:
	mov	#1024,w0
	mov	w0,[w14+2]
.LM116:
	mov	#2560,w0
	mov	w0,[w14]
	bra	.L39
.L37:
.LM117:
	mov	_spin_rate,w1
	mov	#9897,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	gtu,.L40
.LM118:
	mov	_spin_rate,w0
	lsr	w0,#3,w0
	sl	w0,#3,w0
	mov	w0,[w14+2]
.LM119:
	mov	_spin_rate,w0
	lsr	w0,#3,w0
	mul.su	w0,#20,w0
	mov	w0,[w14]
	bra	.L39
.L40:
.LM120:
	mov	#10240,w0
	mov	w0,[w14+2]
.LM121:
	mov	#25600,w0
	mov	w0,[w14]
.L39:
.LM122:
	clr	w0
	mov	w0,_omegacorrP
.LM123:
	clr	w0
	mov	w0,_omegacorrP+2
.LM124:
	clr	w0
	mov	w0,_omegacorrP+4
.LM125:
	add	w14,#4,w1
	mov	[w14],w3
	mov	#_errorRP,w2
	mov	#3,w0
	call	_VectorScale
.LM126:
	add	w14,#4,w0
	mov	w0,w3
	mov	#_omegacorrP,w2
	mov	#_omegacorrP,w1
	mov	#3,w0
	call	_VectorAdd
.LM127:
	mov	_spin_rate,w1
	mov	#394,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	gtu,.L42
.LM128:
	mov	_gyroCorrectionIntegral,w2
	mov	_gyroCorrectionIntegral+2,w3
	mov	_errorRP,w1
	mov	#102,w0
	mul.ss	w1,w0,w0
	sl	w1,#13,w4
	lsr	w0,#3,w0
	ior	w4,w0,w0
	asr	w1,#3,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_gyroCorrectionIntegral
	mov	w1,_gyroCorrectionIntegral+2
.LM129:
	mov	_gyroCorrectionIntegral+4,w2
	mov	_gyroCorrectionIntegral+4+2,w3
	mov	_errorRP+2,w1
	mov	#102,w0
	mul.ss	w1,w0,w0
	sl	w1,#13,w4
	lsr	w0,#3,w0
	ior	w4,w0,w0
	asr	w1,#3,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_gyroCorrectionIntegral+4
	mov	w1,_gyroCorrectionIntegral+4+2
.LM130:
	mov	_gyroCorrectionIntegral+8,w2
	mov	_gyroCorrectionIntegral+8+2,w3
	mov	_errorRP+4,w1
	mov	#102,w0
	mul.ss	w1,w0,w0
	sl	w1,#13,w4
	lsr	w0,#3,w0
	ior	w4,w0,w0
	asr	w1,#3,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_gyroCorrectionIntegral+8
	mov	w1,_gyroCorrectionIntegral+8+2
.L42:
.LM131:
	mov	_gyroCorrectionIntegral+2,w0
	asr	w0,#3,w0
	mov	w0,_omegacorrI
.LM132:
	mov	_gyroCorrectionIntegral+6,w0
	asr	w0,#3,w0
	mov	w0,_omegacorrI+2
.LM133:
	mov	_gyroCorrectionIntegral+10,w0
	asr	w0,#3,w0
	mov	w0,_omegacorrI+4
.LM134:
	ulnk	
	return	
	.set ___PA___,0
.LFE15:
	.align	2
	.global	_adjust_gyro_gain	; export
	.type	_adjust_gyro_gain,@function
_adjust_gyro_gain:
.LFB16:
.LM135:
	.set ___PA___,1
	lnk	#6
	mov	w0,[w14+2]
	mov	w1,[w14+4]
.LM136:
	mov	[w14+4],w0
	mov	[w14+2],w1
	add	w1,w0,[w14]
.LM137:
	mov	#2676,w0
	subr	w0,[w14],[w15]
	.set ___BP___,0
	bra	leu,.L46
.LM138:
	mov	#2676,w0
	mov	w0,[w14]
.L46:
.LM139:
	mov	#2188,w0
	subr	w0,[w14],[w15]
	.set ___BP___,0
	bra	gtu,.L48
.LM140:
	mov	#2189,w0
	mov	w0,[w14]
.L48:
.LM141:
	mov	[w14],w0
.LM142:
	ulnk	
	return	
	.set ___PA___,0
.LFE16:
	.align	2
	.global	_calibrate_gyros	; export
	.type	_calibrate_gyros,@function
_calibrate_gyros:
.LFB17:
.LM143:
	.set ___PA___,1
	lnk	#14
.LM144:
	mov	_spin_rate,w1
	mov	#989,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	leu,.L54
.LM145:
	mov	_spin_rate,w0
	lsr	w0,w0
	mov	w0,[w14]
.LM146:
	add	w14,#8,w1
	mov	#_omegacorrP,w3
	mov	#_spin_axis,w2
	mov	#3,w0
	call	_VectorMultiply
.LM147:
	add	w14,#8,w0
	mov	[w0],w0
	mul.su	w0,#1,w0
	mov	w0,[w14+4]
	mov	w1,[w14+6]
.LM148:
	mov	[w14],w2
	mov	[w14+4],w0
	mov	[w14+6],w1
	mov	w1,[w15++]
	repeat	#18-1
	div.sd	w0,w2
	mov	[--w15],w1
	mov	w0,[w14+2]
.LM149:
	mov	_ggain,w0
	mov	[w14+2],w1
	call	_adjust_gyro_gain
	mov	w0,_ggain
.LM150:
	add	w14,#8,w0
	mov	[w0+2],w0
	mul.su	w0,#1,w0
	mov	w0,[w14+4]
	mov	w1,[w14+6]
.LM151:
	mov	[w14],w2
	mov	[w14+4],w0
	mov	[w14+6],w1
	mov	w1,[w15++]
	repeat	#18-1
	div.sd	w0,w2
	mov	[--w15],w1
	mov	w0,[w14+2]
.LM152:
	mov	_ggain+2,w0
	mov	[w14+2],w1
	call	_adjust_gyro_gain
	mov	w0,_ggain+2
.LM153:
	add	w14,#8,w0
	mov	[w0+4],w0
	mul.su	w0,#1,w0
	mov	w0,[w14+4]
	mov	w1,[w14+6]
.LM154:
	mov	[w14],w2
	mov	[w14+4],w0
	mov	[w14+6],w1
	mov	w1,[w15++]
	repeat	#18-1
	div.sd	w0,w2
	mov	[--w15],w1
	mov	w0,[w14+2]
.LM155:
	mov	_ggain+4,w0
	mov	[w14+2],w1
	call	_adjust_gyro_gain
	mov	w0,_ggain+4
.L54:
.LM156:
	ulnk	
	return	
	.set ___PA___,0
.LFE17:
	.align	2
	.global	_dcm_run_imu_step	; export
	.type	_dcm_run_imu_step,@function
_dcm_run_imu_step:
.LFB18:
.LM157:
	.set ___PA___,1
	lnk	#0
.LM158:
	call	_integrate_loc_cm
.LM159:
	call	_dead_reckon
.LM160:
	call	_rupdate
.LM161:
	call	_normalize
.LM162:
	call	_roll_pitch_drift
.LM163:
	call	_PI_feedback
.LM164:
	call	_calibrate_gyros
.LM165:
	ulnk	
	return	
	.set ___PA___,0
.LFE18:
	.section	.nbss,bss,near
	.align	2
_filterState:	.space	10
	.align	2
_boxCarBuff:	.space	120
	.align	2
_boxCarSum:	.space	12
	.type	_rmatDelayTime,@object
	.global	_rmatDelayTime
	.align	2
_rmatDelayTime:	.space	4
	.type	_gplaneFilt,@object
	.global	_gplaneFilt
	.align	2
_gplaneFilt:	.space	6
	.type	_theta,@object
	.global	_theta
	.align	2
_theta:	.space	6
	.type	_accelerometer_earth,@object
	.global	_accelerometer_earth
	.align	2
_accelerometer_earth:	.space	6
	.type	_GPS_acceleration,@object
	.global	_GPS_acceleration
	.align	2
_GPS_acceleration:	.space	6
	.type	_accelerometer_reference,@object
	.global	_accelerometer_reference
	.align	2
_accelerometer_reference:	.space	6
	.type	_errorRP_earth,@object
	.global	_errorRP_earth
	.align	2
_errorRP_earth:	.space	6
	.section	.debug_frame,info
.Lframe0:
	.4byte	.LECIE0-.LSCIE0
.LSCIE0:
	.4byte	0xffffffff
	.byte	0x1
	.byte	0
	.uleb128 0x1
	.sleb128 2
	.byte	0x21
	.byte	0xc
	.uleb128 0xf
	.uleb128 0xfffffffc
	.byte	0x9
	.uleb128 0x21
	.uleb128 0xf
.LECIE0:
.LSFDE0:
	.4byte	.LEFDE0-.LASFDE0
.LASFDE0:
	.4byte	.Lframe0
	.4byte	.LFB6
	.4byte	.LFE6-.LFB6
.LEFDE0:
.LSFDE2:
	.4byte	.LEFDE2-.LASFDE2
.LASFDE2:
	.4byte	.Lframe0
	.4byte	.LFB7
	.4byte	.LFE7-.LFB7
.LEFDE2:
.LSFDE4:
	.4byte	.LEFDE4-.LASFDE4
.LASFDE4:
	.4byte	.Lframe0
	.4byte	.LFB8
	.4byte	.LFE8-.LFB8
.LEFDE4:
.LSFDE6:
	.4byte	.LEFDE6-.LASFDE6
.LASFDE6:
	.4byte	.Lframe0
	.4byte	.LFB9
	.4byte	.LFE9-.LFB9
.LEFDE6:
.LSFDE8:
	.4byte	.LEFDE8-.LASFDE8
.LASFDE8:
	.4byte	.Lframe0
	.4byte	.LFB10
	.4byte	.LFE10-.LFB10
.LEFDE8:
.LSFDE10:
	.4byte	.LEFDE10-.LASFDE10
.LASFDE10:
	.4byte	.Lframe0
	.4byte	.LFB11
	.4byte	.LFE11-.LFB11
.LEFDE10:
.LSFDE12:
	.4byte	.LEFDE12-.LASFDE12
.LASFDE12:
	.4byte	.Lframe0
	.4byte	.LFB12
	.4byte	.LFE12-.LFB12
.LEFDE12:
.LSFDE14:
	.4byte	.LEFDE14-.LASFDE14
.LASFDE14:
	.4byte	.Lframe0
	.4byte	.LFB13
	.4byte	.LFE13-.LFB13
.LEFDE14:
.LSFDE16:
	.4byte	.LEFDE16-.LASFDE16
.LASFDE16:
	.4byte	.Lframe0
	.4byte	.LFB14
	.4byte	.LFE14-.LFB14
.LEFDE16:
.LSFDE18:
	.4byte	.LEFDE18-.LASFDE18
.LASFDE18:
	.4byte	.Lframe0
	.4byte	.LFB15
	.4byte	.LFE15-.LFB15
.LEFDE18:
.LSFDE20:
	.4byte	.LEFDE20-.LASFDE20
.LASFDE20:
	.4byte	.Lframe0
	.4byte	.LFB16
	.4byte	.LFE16-.LFB16
.LEFDE20:
.LSFDE22:
	.4byte	.LEFDE22-.LASFDE22
.LASFDE22:
	.4byte	.Lframe0
	.4byte	.LFB17
	.4byte	.LFE17-.LFB17
.LEFDE22:
.LSFDE24:
	.4byte	.LEFDE24-.LASFDE24
.LASFDE24:
	.4byte	.Lframe0
	.4byte	.LFB18
	.4byte	.LFE18-.LFB18
.LEFDE24:
	.section	.text,code
.Letext0:
	.section	.debug_line,info
	.4byte	.LELT0-.LSLT0
.LSLT0:
	.2byte	0x2
	.4byte	.LELTP0-.LASLTP0
.LASLTP0:
	.byte	0x1
	.byte	0x1
	.byte	0xf6
	.byte	0xf5
	.byte	0xa
	.byte	0x0
	.byte	0x1
	.byte	0x1
	.byte	0x1
	.byte	0x1
	.byte	0x0
	.byte	0x0
	.byte	0x0
	.byte	0x1
	.ascii	"../../libDCM"
	.byte 0
	.ascii	"../MPQpid400.X/../../libUDB"
	.byte 0
	.ascii	"c:/program files (x86)/microchip/mplab c30/bin/bin/../../include/leg"
	.ascii	"a-c"
	.byte 0
	.ascii	"c:/program files (x86)/microchip/mplab c30/bin/bin/../../support/dsP"
	.ascii	"IC33F/h"
	.byte 0
	.ascii	"c:/program files (x86)/microchip/mplab c30/bin/bin/../../support/gen"
	.ascii	"eric/h"
	.byte 0
	.byte	0x0
	.asciz	"stdint.h"
	.uleb128 0x3
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"p33FJ256GP710A.h"
	.uleb128 0x4
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"libUDB_defines.h"
	.uleb128 0x2
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"yvals.h"
	.uleb128 0x3
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"stdlib.h"
	.uleb128 0x3
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"dsp.h"
	.uleb128 0x5
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"../libUDB/libUDB.h"
	.uleb128 0x1
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"libDCM_defines.h"
	.uleb128 0x1
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"libDCM.h"
	.uleb128 0x1
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"../libUDB/filters.h"
	.uleb128 0x1
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"rmat.c"
	.uleb128 0x1
	.uleb128 0x0
	.uleb128 0x0
	.byte	0x0
.LELTP0:
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM1
	.byte	0x4
	.uleb128 0xb
	.byte	0xa6
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM2
	.byte	0x1d
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM3
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM4
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM5
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM6
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM7
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM8
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM9
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM10
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM11
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM12
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM13
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM14
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM15
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM16
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM17
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM18
	.byte	0x19
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM19
	.byte	0x1b
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	.byte	0x2
	.4byte	.LM20
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM21
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM22
	.byte	0x17
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM23
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	.byte	0x2
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	.byte	0x2
	.4byte	.LM25
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	.byte	0x2
	.4byte	.LM26
	.byte	0x15
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	.byte	0x2
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	.byte	0x2
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	.byte	0x2
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	.byte	0x1a
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	.byte	0x2
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	.byte	0x2
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	.byte	0x2
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	.byte	0x2
	.4byte	.LM45
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	.uleb128 0x5
	.byte	0x2
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	.byte	0x2
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	.uleb128 0x5
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	.4byte	.LM49
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	.byte	0x2
	.4byte	.LM56
	.byte	0x16
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	.byte	0x2
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	.byte	0x17
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	.byte	0x2
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	.byte	0x16
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	.uleb128 0x5
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	.uleb128 0x5
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	.byte	0x16
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	.byte	0x2
	.4byte	.LM72
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	.byte	0x19
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	.4byte	.LM76
	.byte	0x15
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	.4byte	.LM77
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM78
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM79
	.byte	0x16
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM80
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM81
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM82
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM83
	.byte	0x16
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM84
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
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	.byte	0x2
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	.byte	0x16
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	.byte	0x2
	.4byte	.LM88
	.byte	0x2c
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM89
	.byte	0x1d
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM90
	.byte	0x17
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM91
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM92
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM93
	.byte	0x18
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM94
	.byte	0x22
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM95
	.byte	0x16
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM96
	.byte	0x15
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	.byte	0x2
	.4byte	.LM98
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM99
	.byte	0x19
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM100
	.byte	0x16
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM101
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM102
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM103
	.byte	0x17
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM104
	.byte	0x17
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM105
	.byte	0x17
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM106
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM107
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM108
	.byte	0x16
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM109
	.byte	0x17
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM110
	.byte	0x16
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM111
	.byte	0x17
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM112
	.byte	0x17
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	.uleb128 0x5
	.byte	0x2
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	.byte	0x3
	.sleb128 269
	.byte	0x1
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM114
	.byte	0x1c
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	.byte	0x2
	.4byte	.LM115
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM116
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
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	.uleb128 0x5
	.byte	0x2
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	.byte	0x2
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	.byte	0x16
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	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM122
	.byte	0x1a
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM123
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	.byte	0x2
	.4byte	.LM124
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM125
	.byte	0x16
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM126
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM127
	.byte	0x19
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM128
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM129
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM130
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM131
	.byte	0x1c
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM132
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM133
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM134
	.byte	0x17
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	.uleb128 0x5
	.byte	0x2
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	.byte	0x16
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	.uleb128 0x5
	.byte	0x2
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	.uleb128 0x5
	.byte	0x2
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	.uleb128 0x5
	.byte	0x2
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	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM139
	.byte	0x16
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	.uleb128 0x5
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	.4byte	.LM140
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
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	.uleb128 0x5
	.byte	0x2
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	.uleb128 0x5
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	.uleb128 0x5
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	.byte	0x19
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	.uleb128 0x5
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	.uleb128 0x5
	.byte	0x2
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	.uleb128 0x5
	.byte	0x2
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM148
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM149
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM150
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM151
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM152
	.byte	0x15
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM153
	.byte	0x16
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM154
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	.uleb128 0x5
	.byte	0x2
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM156
	.byte	0x17
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM157
	.byte	0x3e
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	.uleb128 0x5
	.byte	0x2
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	.uleb128 0x5
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM161
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	.uleb128 0x5
	.byte	0x2
	.4byte	.LM162
	.byte	0x15
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	.byte	0x2
	.4byte	.LM163
	.byte	0x1a
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	.4byte	.Letext0
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.LELT0:
	.section	.debug_info,info
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	.4byte	.Letext0
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	.asciz	"GNU C 4.0.3 (dsPIC30, Microchip v3_31) (A) Build date: Oct 27 2011"
	.byte	0x1
	.asciz	"../../libDCM/rmat.c"
	.ascii	"D:\\\\Mes Documents\\\\Programmation\\\\Drone\\\\MatrixPilotQuad\\\\"
	.asciz	"MPQpid400.X"
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	.uleb128 0x2
	.asciz	"long int"
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	.uleb128 0x2
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	.uleb128 0x3
	.4byte	.LASF0
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	.asciz	"long unsigned int"
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	.uleb128 0x2
	.asciz	"long long unsigned int"
	.byte	0x8
	.byte	0x7
	.uleb128 0x4
	.4byte	0x28c
	.asciz	"tagLATDBITS"
	.byte	0x2
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	.uleb128 0x5
	.asciz	"LATD0"
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	.byte	0x1
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	.asciz	"LATD1"
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	.byte	0x1
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	.asciz	"LATD2"
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	.asciz	"LATD3"
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	.asciz	"LATD5"
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	.byte	0x2
	.byte	0x1
	.byte	0xa
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD6"
	.byte	0x2
	.2byte	0x9aa
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x9
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD7"
	.byte	0x2
	.2byte	0x9ab
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x8
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD8"
	.byte	0x2
	.2byte	0x9ac
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x7
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD9"
	.byte	0x2
	.2byte	0x9ad
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x6
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD10"
	.byte	0x2
	.2byte	0x9ae
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x5
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD11"
	.byte	0x2
	.2byte	0x9af
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x4
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD12"
	.byte	0x2
	.2byte	0x9b0
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x3
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD13"
	.byte	0x2
	.2byte	0x9b1
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x2
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD14"
	.byte	0x2
	.2byte	0x9b2
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x1
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATD15"
	.byte	0x2
	.2byte	0x9b3
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x10
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.byte	0x0
	.uleb128 0x6
	.asciz	"LATDBITS"
	.byte	0x2
	.2byte	0x9b4
	.4byte	0x130
	.uleb128 0x4
	.4byte	0x353
	.asciz	"tagLATEBITS"
	.byte	0x2
	.byte	0x2
	.2byte	0x9d2
	.uleb128 0x5
	.asciz	"LATE0"
	.byte	0x2
	.2byte	0x9d3
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0xf
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATE1"
	.byte	0x2
	.2byte	0x9d4
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0xe
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATE2"
	.byte	0x2
	.2byte	0x9d5
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0xd
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATE3"
	.byte	0x2
	.2byte	0x9d6
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0xc
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATE4"
	.byte	0x2
	.2byte	0x9d7
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0xb
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATE5"
	.byte	0x2
	.2byte	0x9d8
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0xa
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATE6"
	.byte	0x2
	.2byte	0x9d9
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x9
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x5
	.asciz	"LATE7"
	.byte	0x2
	.2byte	0x9da
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x8
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.byte	0x0
	.uleb128 0x6
	.asciz	"LATEBITS"
	.byte	0x2
	.2byte	0x9db
	.4byte	0x29d
	.uleb128 0x7
	.4byte	0x38a
	.asciz	"ww"
	.byte	0x4
	.byte	0x3
	.byte	0x1d
	.uleb128 0x8
	.asciz	"W0"
	.byte	0x3
	.byte	0x1d
	.4byte	0xc5
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x8
	.asciz	"W1"
	.byte	0x3
	.byte	0x1d
	.4byte	0xc5
	.byte	0x2
	.byte	0x23
	.uleb128 0x2
	.byte	0x0
	.uleb128 0x9
	.4byte	0x3ad
	.asciz	"longww"
	.byte	0x4
	.byte	0x3
	.byte	0x21
	.uleb128 0xa
	.asciz	"WW"
	.byte	0x3
	.byte	0x21
	.4byte	0xcc
	.uleb128 0xa
	.asciz	"_"
	.byte	0x3
	.byte	0x21
	.4byte	0x364
	.byte	0x0
	.uleb128 0x2
	.asciz	"char"
	.byte	0x1
	.byte	0x6
	.uleb128 0x7
	.4byte	0x407
	.asciz	"ADchannel"
	.byte	0xa
	.byte	0x3
	.byte	0xb0
	.uleb128 0x8
	.asciz	"input"
	.byte	0x3
	.byte	0xb1
	.4byte	0xc5
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x8
	.asciz	"value"
	.byte	0x3
	.byte	0xb2
	.4byte	0xc5
	.byte	0x2
	.byte	0x23
	.uleb128 0x2
	.uleb128 0x8
	.asciz	"offset"
	.byte	0x3
	.byte	0xb3
	.4byte	0xc5
	.byte	0x2
	.byte	0x23
	.uleb128 0x4
	.uleb128 0x8
	.asciz	"sum"
	.byte	0x3
	.byte	0xb4
	.4byte	0xcc
	.byte	0x2
	.byte	0x23
	.uleb128 0x6
	.byte	0x0
	.uleb128 0x2
	.asciz	"short unsigned int"
	.byte	0x2
	.byte	0x7
	.uleb128 0xb
	.asciz	"fractional"
	.byte	0x6
	.byte	0x5c
	.4byte	0xc5
	.uleb128 0xc
	.byte	0x2
	.4byte	0x41d
	.uleb128 0x7
	.4byte	0x46d
	.asciz	"relative3D"
	.byte	0x6
	.byte	0x8
	.byte	0x1d
	.uleb128 0x8
	.asciz	"x"
	.byte	0x8
	.byte	0x1d
	.4byte	0xc5
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x8
	.asciz	"y"
	.byte	0x8
	.byte	0x1d
	.4byte	0xc5
	.byte	0x2
	.byte	0x23
	.uleb128 0x2
	.uleb128 0x8
	.asciz	"z"
	.byte	0x8
	.byte	0x1d
	.4byte	0xc5
	.byte	0x2
	.byte	0x23
	.uleb128 0x4
	.byte	0x0
	.uleb128 0x2
	.asciz	"float"
	.byte	0x4
	.byte	0x4
	.uleb128 0x7
	.4byte	0x607
	.asciz	"dcm_flag_bits"
	.byte	0x2
	.byte	0x8
	.byte	0x22
	.uleb128 0xd
	.asciz	"unused"
	.byte	0x8
	.byte	0x23
	.4byte	0xfa
	.byte	0x2
	.byte	0x3
	.byte	0xd
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"rollpitch_req"
	.byte	0x8
	.byte	0x24
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0xc
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"gps_history_valid"
	.byte	0x8
	.byte	0x25
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0xb
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"dead_reckon_enable"
	.byte	0x8
	.byte	0x26
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0xa
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"reckon_req"
	.byte	0x8
	.byte	0x27
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x9
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"integrate_req"
	.byte	0x8
	.byte	0x28
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x8
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"first_mag_reading"
	.byte	0x8
	.byte	0x29
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x7
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"mag_drift_req"
	.byte	0x8
	.byte	0x2a
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x6
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"yaw_req"
	.byte	0x8
	.byte	0x2b
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x5
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"skip_yaw_drift"
	.byte	0x8
	.byte	0x2c
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x4
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"nav_capable"
	.byte	0x8
	.byte	0x2d
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x3
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"nmea_passthrough"
	.byte	0x8
	.byte	0x2e
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x2
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"init_finished"
	.byte	0x8
	.byte	0x2f
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x1
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xd
	.asciz	"calib_finished"
	.byte	0x8
	.byte	0x30
	.4byte	0xfa
	.byte	0x2
	.byte	0x1
	.byte	0x10
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.byte	0x0
	.uleb128 0x9
	.4byte	0x630
	.asciz	"dcm_fbts_word"
	.byte	0x2
	.byte	0x9
	.byte	0x5d
	.uleb128 0xa
	.asciz	"_"
	.byte	0x9
	.byte	0x5d
	.4byte	0x476
	.uleb128 0xa
	.asciz	"W"
	.byte	0x9
	.byte	0x5d
	.4byte	0xc5
	.byte	0x0
	.uleb128 0x7
	.4byte	0x68c
	.asciz	"boxCarState"
	.byte	0xa
	.byte	0xa
	.byte	0x32
	.uleb128 0x8
	.asciz	"len"
	.byte	0xa
	.byte	0x33
	.4byte	0xc5
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x8
	.asciz	"N"
	.byte	0xa
	.byte	0x34
	.4byte	0xc5
	.byte	0x2
	.byte	0x23
	.uleb128 0x2
	.uleb128 0x8
	.asciz	"buff"
	.byte	0xa
	.byte	0x35
	.4byte	0x68c
	.byte	0x2
	.byte	0x23
	.uleb128 0x4
	.uleb128 0x8
	.asciz	"sum"
	.byte	0xa
	.byte	0x36
	.4byte	0x692
	.byte	0x2
	.byte	0x23
	.uleb128 0x6
	.uleb128 0x8
	.asciz	"index"
	.byte	0xa
	.byte	0x37
	.4byte	0xc5
	.byte	0x2
	.byte	0x23
	.uleb128 0x8
	.byte	0x0
	.uleb128 0xc
	.byte	0x2
	.4byte	0xc5
	.uleb128 0xc
	.byte	0x2
	.4byte	0xcc
	.uleb128 0xe
	.byte	0x1
	.asciz	"dcm_init_rmat"
	.byte	0xb
	.byte	0x93
	.byte	0x1
	.4byte	.LFB6
	.4byte	.LFE6
	.byte	0x1
	.byte	0x5e
	.uleb128 0xf
	.4byte	0x717
	.byte	0x1
	.asciz	"VectorCross"
	.byte	0xb
	.byte	0xa1
	.byte	0x1
	.4byte	.LFB7
	.4byte	.LFE7
	.byte	0x1
	.byte	0x5e
	.uleb128 0x10
	.asciz	"dest"
	.byte	0xb
	.byte	0xa1
	.4byte	0x42f
	.byte	0x2
	.byte	0x7e
	.sleb128 4
	.uleb128 0x10
	.asciz	"src1"
	.byte	0xb
	.byte	0xa1
	.4byte	0x42f
	.byte	0x2
	.byte	0x7e
	.sleb128 6
	.uleb128 0x10
	.asciz	"src2"
	.byte	0xb
	.byte	0xa1
	.4byte	0x42f
	.byte	0x2
	.byte	0x7e
	.sleb128 8
	.uleb128 0x11
	.asciz	"crossaccum"
	.byte	0xb
	.byte	0xa2
	.4byte	0x38a
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.byte	0x0
	.uleb128 0x12
	.4byte	0x750
	.byte	0x1
	.asciz	"read_gyros"
	.byte	0xb
	.byte	0xb5
	.4byte	.LFB8
	.4byte	.LFE8
	.byte	0x1
	.byte	0x5e
	.uleb128 0x11
	.asciz	"spin_rate_over_2"
	.byte	0xb
	.byte	0xb6
	.4byte	0xfa
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.byte	0x0
	.uleb128 0x13
	.byte	0x1
	.asciz	"read_accel"
	.byte	0xb
	.byte	0xcd
	.4byte	.LFB9
	.4byte	.LFE9
	.byte	0x1
	.byte	0x5e
	.uleb128 0x14
	.4byte	0x7bc
	.byte	0x1
	.asciz	"omegaSOG"
	.byte	0xb
	.byte	0xe6
	.byte	0x1
	.4byte	0xc5
	.4byte	.LFB10
	.4byte	.LFE10
	.byte	0x1
	.byte	0x5e
	.uleb128 0x10
	.asciz	"omega"
	.byte	0xb
	.byte	0xe6
	.4byte	0xc5
	.byte	0x2
	.byte	0x7e
	.sleb128 4
	.uleb128 0x10
	.asciz	"speed"
	.byte	0xb
	.byte	0xe6
	.4byte	0xfa
	.byte	0x2
	.byte	0x7e
	.sleb128 6
	.uleb128 0x11
	.asciz	"working"
	.byte	0xb
	.byte	0xe7
	.4byte	0x38a
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.byte	0x0
	.uleb128 0x15
	.4byte	0x82b
	.byte	0x1
	.asciz	"rupdate"
	.byte	0xb
	.2byte	0x10b
	.byte	0x1
	.4byte	.LFB11
	.4byte	.LFE11
	.byte	0x1
	.byte	0x5e
	.uleb128 0x16
	.asciz	"rup"
	.byte	0xb
	.2byte	0x10c
	.4byte	0x82b
	.byte	0x2
	.byte	0x7e
	.sleb128 6
	.uleb128 0x16
	.asciz	"rbuff"
	.byte	0xb
	.2byte	0x10e
	.4byte	0x82b
	.byte	0x2
	.byte	0x7e
	.sleb128 24
	.uleb128 0x16
	.asciz	"thetaSquare"
	.byte	0xb
	.2byte	0x10f
	.4byte	0x101
	.byte	0x2
	.byte	0x7e
	.sleb128 2
	.uleb128 0x16
	.asciz	"nonlinearAdjust"
	.byte	0xb
	.2byte	0x110
	.4byte	0xfa
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.byte	0x0
	.uleb128 0x17
	.4byte	0x83b
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x8
	.byte	0x0
	.uleb128 0x3
	.4byte	.LASF0
	.byte	0x2
	.byte	0x7
	.uleb128 0x15
	.4byte	0x894
	.byte	0x1
	.asciz	"normalize"
	.byte	0xb
	.2byte	0x13e
	.byte	0x1
	.4byte	.LFB12
	.4byte	.LFE12
	.byte	0x1
	.byte	0x5e
	.uleb128 0x16
	.asciz	"norm"
	.byte	0xb
	.2byte	0x13f
	.4byte	0x41d
	.byte	0x2
	.byte	0x7e
	.sleb128 2
	.uleb128 0x16
	.asciz	"renorm"
	.byte	0xb
	.2byte	0x140
	.4byte	0x41d
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.uleb128 0x16
	.asciz	"rbuff"
	.byte	0xb
	.2byte	0x141
	.4byte	0x82b
	.byte	0x2
	.byte	0x7e
	.sleb128 4
	.byte	0x0
	.uleb128 0x19
	.byte	0x1
	.asciz	"roll_pitch_drift"
	.byte	0xb
	.2byte	0x177
	.4byte	.LFB13
	.4byte	.LFE13
	.byte	0x1
	.byte	0x5e
	.uleb128 0x19
	.byte	0x1
	.asciz	"yaw_drift"
	.byte	0xb
	.2byte	0x1c5
	.4byte	.LFB14
	.4byte	.LFE14
	.byte	0x1
	.byte	0x5e
	.uleb128 0x15
	.4byte	0x92f
	.byte	0x1
	.asciz	"PI_feedback"
	.byte	0xb
	.2byte	0x2e4
	.byte	0x1
	.4byte	.LFB15
	.4byte	.LFE15
	.byte	0x1
	.byte	0x5e
	.uleb128 0x16
	.asciz	"errorRPScaled"
	.byte	0xb
	.2byte	0x2e5
	.4byte	0x92f
	.byte	0x2
	.byte	0x7e
	.sleb128 4
	.uleb128 0x16
	.asciz	"kpyaw"
	.byte	0xb
	.2byte	0x2e6
	.4byte	0xc5
	.byte	0x2
	.byte	0x7e
	.sleb128 2
	.uleb128 0x16
	.asciz	"kprollpitch"
	.byte	0xb
	.2byte	0x2e7
	.4byte	0xc5
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.byte	0x0
	.uleb128 0x17
	.4byte	0x93f
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x1a
	.4byte	0x99c
	.byte	0x1
	.asciz	"adjust_gyro_gain"
	.byte	0xb
	.2byte	0x316
	.byte	0x1
	.4byte	0xfa
	.4byte	.LFB16
	.4byte	.LFE16
	.byte	0x1
	.byte	0x5e
	.uleb128 0x1b
	.asciz	"old_gain"
	.byte	0xb
	.2byte	0x316
	.4byte	0xfa
	.byte	0x2
	.byte	0x7e
	.sleb128 2
	.uleb128 0x1c
	.4byte	.LASF1
	.byte	0xb
	.2byte	0x316
	.4byte	0xc5
	.byte	0x2
	.byte	0x7e
	.sleb128 4
	.uleb128 0x16
	.asciz	"gain"
	.byte	0xb
	.2byte	0x317
	.4byte	0xfa
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.byte	0x0
	.uleb128 0x15
	.4byte	0xa20
	.byte	0x1
	.asciz	"calibrate_gyros"
	.byte	0xb
	.2byte	0x325
	.byte	0x1
	.4byte	.LFB17
	.4byte	.LFE17
	.byte	0x1
	.byte	0x5e
	.uleb128 0x16
	.asciz	"omegacorrPweighted"
	.byte	0xb
	.2byte	0x326
	.4byte	0x92f
	.byte	0x2
	.byte	0x7e
	.sleb128 8
	.uleb128 0x16
	.asciz	"calib_accum"
	.byte	0xb
	.2byte	0x327
	.4byte	0xcc
	.byte	0x2
	.byte	0x7e
	.sleb128 4
	.uleb128 0x1d
	.4byte	.LASF1
	.byte	0xb
	.2byte	0x328
	.4byte	0xc5
	.byte	0x2
	.byte	0x7e
	.sleb128 2
	.uleb128 0x16
	.asciz	"spin_rate_over2"
	.byte	0xb
	.2byte	0x329
	.4byte	0xfa
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.byte	0x0
	.uleb128 0x1e
	.byte	0x1
	.asciz	"dcm_run_imu_step"
	.byte	0xb
	.2byte	0x365
	.byte	0x1
	.4byte	.LFB18
	.4byte	.LFE18
	.byte	0x1
	.byte	0x5e
	.uleb128 0x11
	.asciz	"filterState"
	.byte	0xb
	.byte	0x8e
	.4byte	0x630
	.byte	0x5
	.byte	0x3
	.4byte	_filterState
	.uleb128 0x17
	.4byte	0xa6a
	.4byte	0xc5
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x3b
	.byte	0x0
	.uleb128 0x11
	.asciz	"boxCarBuff"
	.byte	0xb
	.byte	0x8f
	.4byte	0xa5a
	.byte	0x5
	.byte	0x3
	.4byte	_boxCarBuff
	.uleb128 0x17
	.4byte	0xa92
	.4byte	0xcc
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x11
	.asciz	"boxCarSum"
	.byte	0xb
	.byte	0x90
	.4byte	0xa82
	.byte	0x5
	.byte	0x3
	.4byte	_boxCarSum
	.uleb128 0x1f
	.asciz	"LATDbits"
	.byte	0x2
	.2byte	0x9b5
	.4byte	0xabc
	.byte	0x1
	.byte	0x1
	.uleb128 0x20
	.4byte	0x28c
	.uleb128 0x1f
	.asciz	"LATEbits"
	.byte	0x2
	.2byte	0x9dc
	.4byte	0xad4
	.byte	0x1
	.byte	0x1
	.uleb128 0x20
	.4byte	0x353
	.uleb128 0x21
	.asciz	"vref_adj"
	.byte	0x3
	.byte	0xeb
	.4byte	0xc5
	.byte	0x1
	.byte	0x1
	.uleb128 0x21
	.asciz	"udb_xaccel"
	.byte	0x7
	.byte	0xc9
	.4byte	0x3b5
	.byte	0x1
	.byte	0x1
	.uleb128 0x21
	.asciz	"udb_yaccel"
	.byte	0x7
	.byte	0xc9
	.4byte	0x3b5
	.byte	0x1
	.byte	0x1
	.uleb128 0x21
	.asciz	"udb_zaccel"
	.byte	0x7
	.byte	0xc9
	.4byte	0x3b5
	.byte	0x1
	.byte	0x1
	.uleb128 0x21
	.asciz	"udb_xrate"
	.byte	0x7
	.byte	0xca
	.4byte	0x3b5
	.byte	0x1
	.byte	0x1
	.uleb128 0x21
	.asciz	"udb_yrate"
	.byte	0x7
	.byte	0xca
	.4byte	0x3b5
	.byte	0x1
	.byte	0x1
	.uleb128 0x21
	.asciz	"udb_zrate"
	.byte	0x7
	.byte	0xca
	.4byte	0x3b5
	.byte	0x1
	.byte	0x1
	.uleb128 0x21
	.asciz	"dcm_flags"
	.byte	0x9
	.byte	0x5d
	.4byte	0x607
	.byte	0x1
	.byte	0x1
	.uleb128 0x17
	.4byte	0xb83
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x8
	.byte	0x0
	.uleb128 0x22
	.asciz	"rmat"
	.byte	0xb
	.byte	0x4e
	.4byte	0xb73
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rmat
	.uleb128 0x17
	.4byte	0xba6
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"omegaAccum"
	.byte	0xb
	.byte	0x6c
	.4byte	0xb96
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_omegaAccum
	.uleb128 0x17
	.4byte	0xbcf
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"omegagyro"
	.byte	0xb
	.byte	0x58
	.4byte	0xbbf
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_omegagyro
	.uleb128 0x17
	.4byte	0xbf7
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"accelEarth"
	.byte	0xb
	.byte	0x60
	.4byte	0xbe7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_accelEarth
	.uleb128 0x21
	.asciz	"GPSvelocity"
	.byte	0x9
	.byte	0x66
	.4byte	0x435
	.byte	0x1
	.byte	0x1
	.uleb128 0x21
	.asciz	"ground_velocity_magnitudeXY"
	.byte	0x9
	.byte	0x74
	.4byte	0xfa
	.byte	0x1
	.byte	0x1
	.uleb128 0x17
	.4byte	0xc5a
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"dirovergndHRmat"
	.byte	0xb
	.byte	0x75
	.4byte	0xc4a
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_dirovergndHRmat
	.uleb128 0x17
	.4byte	0xc88
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"dirovergndHGPS"
	.byte	0xb
	.byte	0x72
	.4byte	0xc78
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_dirovergndHGPS
	.uleb128 0x17
	.4byte	0xcb5
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"omega"
	.byte	0xb
	.byte	0x59
	.4byte	0xca5
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_omega
	.uleb128 0x17
	.4byte	0xcd9
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"ggain"
	.byte	0xb
	.byte	0x2a
	.4byte	0xcc9
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_ggain
	.uleb128 0x22
	.asciz	"spin_rate"
	.byte	0xb
	.byte	0x2c
	.4byte	0xfa
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_spin_rate
	.uleb128 0x17
	.4byte	0xd15
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"spin_axis"
	.byte	0xb
	.byte	0x2d
	.4byte	0xd05
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_spin_axis
	.uleb128 0x17
	.4byte	0xd3d
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x8
	.byte	0x0
	.uleb128 0x22
	.asciz	"rmatDelayCompensated"
	.byte	0xb
	.byte	0x4f
	.4byte	0xd2d
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rmatDelayCompensated
	.uleb128 0x22
	.asciz	"rmatDelayTime"
	.byte	0xb
	.byte	0x50
	.4byte	0x101
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rmatDelayTime
	.uleb128 0x17
	.4byte	0xd8c
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"omegacorrP"
	.byte	0xb
	.byte	0x5c
	.4byte	0xd7c
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_omegacorrP
	.uleb128 0x17
	.4byte	0xdb5
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"omegacorrI"
	.byte	0xb
	.byte	0x5d
	.4byte	0xda5
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_omegacorrI
	.uleb128 0x17
	.4byte	0xdde
	.4byte	0x38a
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"gyroCorrectionIntegral"
	.byte	0xb
	.byte	0x65
	.4byte	0xdce
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_gyroCorrectionIntegral
	.uleb128 0x17
	.4byte	0xe13
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"gplane"
	.byte	0xb
	.byte	0x6f
	.4byte	0xe03
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_gplane
	.uleb128 0x17
	.4byte	0xe38
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"errorRP"
	.byte	0xb
	.byte	0x7e
	.4byte	0xe28
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_errorRP
	.uleb128 0x17
	.4byte	0xe5e
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"errorYawground"
	.byte	0xb
	.byte	0x7f
	.4byte	0xe4e
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_errorYawground
	.uleb128 0x17
	.4byte	0xe8b
	.4byte	0x41d
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"errorYawplane"
	.byte	0xb
	.byte	0x80
	.4byte	0xe7b
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_errorYawplane
	.uleb128 0x22
	.asciz	"error"
	.byte	0xb
	.byte	0x83
	.4byte	0x41d
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_error
	.uleb128 0x17
	.4byte	0xecb
	.4byte	0xc5
	.uleb128 0x18
	.4byte	0x83b
	.byte	0x2
	.byte	0x0
	.uleb128 0x22
	.asciz	"gplaneFilt"
	.byte	0xb
	.byte	0x91
	.4byte	0xebb
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_gplaneFilt
	.uleb128 0x23
	.asciz	"theta"
	.byte	0xb
	.2byte	0x103
	.4byte	0x92f
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_theta
	.uleb128 0x23
	.asciz	"accelerometer_earth_integral"
	.byte	0xb
	.2byte	0x164
	.4byte	0xa82
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_accelerometer_earth_integral
	.uleb128 0x23
	.asciz	"GPS_velocity_previous"
	.byte	0xb
	.2byte	0x165
	.4byte	0xebb
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_GPS_velocity_previous
	.uleb128 0x23
	.asciz	"accelerometer_samples"
	.byte	0xb
	.2byte	0x166
	.4byte	0xfa
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_accelerometer_samples
	.uleb128 0x23
	.asciz	"accelerometer_earth"
	.byte	0xb
	.2byte	0x169
	.4byte	0xebb
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_accelerometer_earth
	.uleb128 0x23
	.asciz	"GPS_acceleration"
	.byte	0xb
	.2byte	0x16a
	.4byte	0xebb
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_GPS_acceleration
	.uleb128 0x23
	.asciz	"accelerometer_reference"
	.byte	0xb
	.2byte	0x16b
	.4byte	0xebb
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_accelerometer_reference
	.uleb128 0x23
	.asciz	"errorRP_earth"
	.byte	0xb
	.2byte	0x16c
	.4byte	0xebb
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_errorRP_earth
	.byte	0x0
	.section	.debug_abbrev,info
	.uleb128 0x1
	.uleb128 0x11
	.byte	0x1
	.uleb128 0x10
	.uleb128 0x6
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x25
	.uleb128 0x8
	.uleb128 0x13
	.uleb128 0xb
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x1b
	.uleb128 0x8
	.byte	0x0
	.byte	0x0
	.uleb128 0x2
	.uleb128 0x24
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3e
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x24
	.byte	0x0
	.uleb128 0x3
	.uleb128 0xe
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3e
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.uleb128 0x4
	.uleb128 0x13
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.byte	0x0
	.byte	0x0
	.uleb128 0x5
	.uleb128 0xd
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0xd
	.uleb128 0xb
	.uleb128 0xc
	.uleb128 0xb
	.uleb128 0x38
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x6
	.uleb128 0x16
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0x7
	.uleb128 0x13
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.uleb128 0x8
	.uleb128 0xd
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x38
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x9
	.uleb128 0x17
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.uleb128 0xa
	.uleb128 0xd
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0xb
	.uleb128 0x16
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0xc
	.uleb128 0xf
	.byte	0x0
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0xd
	.uleb128 0xd
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0xd
	.uleb128 0xb
	.uleb128 0xc
	.uleb128 0xb
	.uleb128 0x38
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0xe
	.uleb128 0x2e
	.byte	0x0
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x27
	.uleb128 0xc
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0xf
	.uleb128 0x2e
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x27
	.uleb128 0xc
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x10
	.uleb128 0x5
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x11
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x12
	.uleb128 0x2e
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x13
	.uleb128 0x2e
	.byte	0x0
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x14
	.uleb128 0x2e
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x27
	.uleb128 0xc
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x15
	.uleb128 0x2e
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
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	.uleb128 0x8
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	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x27
	.uleb128 0xc
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
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	.uleb128 0x16
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
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	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x17
	.uleb128 0x1
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0x18
	.uleb128 0x21
	.byte	0x0
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2f
	.uleb128 0xb
	.byte	0x0
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	.uleb128 0x19
	.uleb128 0x2e
	.byte	0x0
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x1a
	.uleb128 0x2e
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x27
	.uleb128 0xc
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x1b
	.uleb128 0x5
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x1c
	.uleb128 0x5
	.byte	0x0
	.uleb128 0x3
	.uleb128 0xe
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
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	.uleb128 0x1d
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0xe
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x1e
	.uleb128 0x2e
	.byte	0x0
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x27
	.uleb128 0xc
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x1f
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3c
	.uleb128 0xc
	.byte	0x0
	.byte	0x0
	.uleb128 0x20
	.uleb128 0x35
	.byte	0x0
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0x21
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3c
	.uleb128 0xc
	.byte	0x0
	.byte	0x0
	.uleb128 0x22
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x23
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.byte	0x0
	.section	.debug_pubnames,info
	.4byte	0x2e5
	.2byte	0x2
	.4byte	.Ldebug_info0
	.4byte	0xff7
	.4byte	0x698
	.asciz	"dcm_init_rmat"
	.4byte	0x6b5
	.asciz	"VectorCross"
	.4byte	0x717
	.asciz	"read_gyros"
	.4byte	0x750
	.asciz	"read_accel"
	.4byte	0x769
	.asciz	"omegaSOG"
	.4byte	0x7bc
	.asciz	"rupdate"
	.4byte	0x842
	.asciz	"normalize"
	.4byte	0x894
	.asciz	"roll_pitch_drift"
	.4byte	0x8b4
	.asciz	"yaw_drift"
	.4byte	0x8cd
	.asciz	"PI_feedback"
	.4byte	0x93f
	.asciz	"adjust_gyro_gain"
	.4byte	0x99c
	.asciz	"calibrate_gyros"
	.4byte	0xa20
	.asciz	"dcm_run_imu_step"
	.4byte	0xb83
	.asciz	"rmat"
	.4byte	0xba6
	.asciz	"omegaAccum"
	.4byte	0xbcf
	.asciz	"omegagyro"
	.4byte	0xbf7
	.asciz	"accelEarth"
	.4byte	0xc5a
	.asciz	"dirovergndHRmat"
	.4byte	0xc88
	.asciz	"dirovergndHGPS"
	.4byte	0xcb5
	.asciz	"omega"
	.4byte	0xcd9
	.asciz	"ggain"
	.4byte	0xced
	.asciz	"spin_rate"
	.4byte	0xd15
	.asciz	"spin_axis"
	.4byte	0xd3d
	.asciz	"rmatDelayCompensated"
	.4byte	0xd60
	.asciz	"rmatDelayTime"
	.4byte	0xd8c
	.asciz	"omegacorrP"
	.4byte	0xdb5
	.asciz	"omegacorrI"
	.4byte	0xdde
	.asciz	"gyroCorrectionIntegral"
	.4byte	0xe13
	.asciz	"gplane"
	.4byte	0xe38
	.asciz	"errorRP"
	.4byte	0xe5e
	.asciz	"errorYawground"
	.4byte	0xe8b
	.asciz	"errorYawplane"
	.4byte	0xea7
	.asciz	"error"
	.4byte	0xecb
	.asciz	"gplaneFilt"
	.4byte	0xee4
	.asciz	"theta"
	.4byte	0xef9
	.asciz	"accelerometer_earth_integral"
	.4byte	0xf25
	.asciz	"GPS_velocity_previous"
	.4byte	0xf4a
	.asciz	"accelerometer_samples"
	.4byte	0xf6f
	.asciz	"accelerometer_earth"
	.4byte	0xf92
	.asciz	"GPS_acceleration"
	.4byte	0xfb2
	.asciz	"accelerometer_reference"
	.4byte	0xfd9
	.asciz	"errorRP_earth"
	.4byte	0x0
	.section	.debug_aranges,info
	.4byte	0x1c
	.2byte	0x2
	.4byte	.Ldebug_info0
	.byte	0x4
	.byte	0x0
	.2byte	0x0
	.2byte	0x0
	.4byte	.Ltext0
	.4byte	.Letext0-.Ltext0
	.4byte	0x0
	.4byte	0x0
	.section	.debug_str,info
.LASF1:
	.asciz	"gain_change"
.LASF0:
	.asciz	"unsigned int"

	.section __c30_signature, info, data
	.word 0x0001
	.word 0x0000
	.word 0x0000

	.set ___PA___,0
	.end
